| 柔性多体机械臂动力学仿真 |
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| 引用本文： | 龚建峰,洪嘉振. 柔性多体机械臂动力学仿真[J]. 上海交通大学学报, 1994, 0(Z1) |
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| 作者姓名： | 龚建峰 洪嘉振 |
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| 基金项目： | 国家自然科学基金,国家教委博士点基金 |
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| 摘 要： | 本文介绍基于Ｊｏｕｒｄａｉｎ变分原理的柔性多体机械臂动力学方程的单向递推组集方法，并根据该方法开发了柔性多体系统动力学仿真软件ＦＭＳ，文末对空间四连杆机械臂机器人操作手进行了动力学仿真．
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| 关 键 词： | 柔性体，机械臂，递推方法，动力学仿真 |
Dynamics Simulation of Flexible Multibody Manipulator |
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| Gong Jianfeng,Hong Jiazhen. Dynamics Simulation of Flexible Multibody Manipulator[J]. Journal of Shanghai Jiaotong University, 1994, 0(Z1) |
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| Authors: | Gong Jianfeng Hong Jiazhen |
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| Affiliation: | Gong Jianfeng;Hong Jiazhen |
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| Abstract: | In this paper,a new recursive technique for the construction of dynamics equations for the flexible multibody manipulator is suggested based on the Jourdain principle. According to the technique,a software system for dynamics simulation of the flexible multibody system has been developed. Finally,a 3D flexible manipulator is studied to illustrate the computational efficiency of the recursive formulation and FMS software. |
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| Keywords: | flexible multibody manipulator recursive construction method dynamics simulation |
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